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<div class="title">bearing_angle_image.h</div>  </div>
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<a href="bearing__angle__image_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Qinghua Li, Yan Zhuang, Fei Yan</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_BEARING_ANGLE_IMAGE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_BEARING_ANGLE_IMAGE_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html">   54</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_bearing_angle_image.html">BearingAngleImage</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;PointXYZRGBA&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="comment">// ===== TYPEDEFS =====</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointXYZRGBA&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">BaseClass</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#a873a6408f9836b322a2c9facc794aaec">   62</a></span>&#160;<span class="comment"></span>      <a class="code" href="classpcl_1_1_bearing_angle_image.html#a873a6408f9836b322a2c9facc794aaec">BearingAngleImage</a> ();</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#acacbe55b34cb45ab8e073abaa4756f1b">   64</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_bearing_angle_image.html#acacbe55b34cb45ab8e073abaa4756f1b">~BearingAngleImage</a> ();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#a3de835144ad64107ede12ee961118aec">   69</a></span>&#160;      <a class="code" href="classpcl_1_1_bearing_angle_image.html#a3de835144ad64107ede12ee961118aec">reset</a> ();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">getAngle</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;point2);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#ab6798ea0d4ace1e798816a64fe41cf72">   81</a></span>&#160;      <a class="code" href="classpcl_1_1_bearing_angle_image.html#ab6798ea0d4ace1e798816a64fe41cf72">generateBAImage</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>&amp; point_cloud);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#a42dd447d5e038c19511593dbac6fbfe2">   85</a></span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> <a class="code" href="classpcl_1_1_bearing_angle_image.html#a42dd447d5e038c19511593dbac6fbfe2">unobserved_point_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  };</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_BEARING_ANGLE_IMAGE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html">pcl::BearingAngleImage</a></div><div class="ttdoc">class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.</div><div class="ttdef"><b>Definition:</b> bearing_angle_image.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_a3de835144ad64107ede12ee961118aec"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#a3de835144ad64107ede12ee961118aec">pcl::BearingAngleImage::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset all values to an empty Bearing Angle image</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_a42dd447d5e038c19511593dbac6fbfe2"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#a42dd447d5e038c19511593dbac6fbfe2">pcl::BearingAngleImage::unobserved_point_</a></div><div class="ttdeci">PointXYZRGBA unobserved_point_</div><div class="ttdef"><b>Definition:</b> bearing_angle_image.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_a873a6408f9836b322a2c9facc794aaec"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#a873a6408f9836b322a2c9facc794aaec">pcl::BearingAngleImage::BearingAngleImage</a></div><div class="ttdeci">BearingAngleImage()</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_ab09b966639c143f9556404c3ac7de0f2"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">pcl::BearingAngleImage::getAngle</a></div><div class="ttdeci">double getAngle(const PointXYZ &amp;point1, const PointXYZ &amp;point2)</div><div class="ttdoc">Calculate the angle between the laser beam and the segment joining two consecutive measurement points...</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_ab6798ea0d4ace1e798816a64fe41cf72"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#ab6798ea0d4ace1e798816a64fe41cf72">pcl::BearingAngleImage::generateBAImage</a></div><div class="ttdeci">void generateBAImage(PointCloud&lt; PointXYZ &gt; &amp;point_cloud)</div><div class="ttdoc">Transform 3D point cloud into a 2D Bearing Angle(BA) image</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_acacbe55b34cb45ab8e073abaa4756f1b"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#acacbe55b34cb45ab8e073abaa4756f1b">pcl::BearingAngleImage::~BearingAngleImage</a></div><div class="ttdeci">virtual ~BearingAngleImage()</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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